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Page 1: ...The content and copyrights of the attached material are the property of its owner Distributed by www Jameco com 1 800 831 4242...
Page 2: ...ke us and line following circuitry will help get us there safely and without effort With the Parallax Line Follower module you can experiment with this technology today using your BOE Bot Features The...
Page 3: ...sis Use the other two 4 40 screws to secure the Line Follower Module to the BOE Bot 9 Holding the BOE Bot in your hand turn it over so the bottom side faces up Hold the ribbon cable in your other hand...
Page 4: ...nd that the IR Detect output is taken at collector of the transistor As the current flow through the transistor increases the voltage across the 10 k resistor also increases causing the voltage at the...
Page 5: ...hrough the transistor will be low causing detector output voltage to increase If the output voltage goes higher than the threshold pot setting the comparator will output a high 1 In review reflective...
Page 6: ...back and forth across this line and see the corresponding detector bit change on the DEBUG screen Be careful not to lift the BOE Bot off the paper The emitter detector pairs are focused devices and th...
Page 7: ...turn the correct value for the specified course type The final constant value is called MoveTo and has a value of 2 This is a little used yet very useful code to use with DEBUG MoveTo allows the curso...
Page 8: ...at this does is allow the program to see the line be it black on white or white on black as a 1 If no line is detected the output bit will be zero After each bit is recorded the LEDs are switched off...
Page 9: ...O Definitions Constants LEDon CON 0 LF LEDs are active low LEDoff CON 1 WLine CON 0 white line on black field BLine CON 1 black line on white field LFmode CON BLine set pgm for black line MoveTo CON...
Page 10: ...eTo 4 3 BIN5 lfBits display LF reading GOTO Main END Subroutines Read_Line_Follower lfBits 0 clear last reading FOR ledPos 2 TO 6 OutL LowBit ledPos LEDon turn the LED on PAUSE 1 allow sensor to read...
Page 11: ...ialized to 00100 This will cause the BOE Bot to go straight even if it is started off the line The function of the main loop is to read the Line Follower module and decode its bits determining the app...
Page 12: ...lement Revision History 01 DEC 2001 Version 1 0 I O Definitions LMotor CON 15 servo motor connections RMotor CON 14 Constants LEDon CON 0 LF LEDs are active low LEDoff CON 1 WLine CON 0 white line on...
Page 13: ...o read lfBits LowBit ledPos In9 LFmode record the sensor reading OutL OutL 01111100 turn LEDs off NEXT lfBits lfBits 2 shift bits to zero index RETURN Off_Line lfBits lastBits get last known position...
Page 14: ...Parallax Inc Parallax Line Follower 29115 12 2001 Page 13 Hard_Left PULSOUT LMotor MStop stop left motor PULSOUT RMotor MStop Speed075 GOTO Save_Last Notes...
Page 15: ...power state The next time the Stamp is reset by pressing the Reset button the reset flag value is read and inverted again This time the inverted value will be FF and the program will proceed to initia...
Page 16: ...History 01 DEC 2001 Version 1 0 I O Definitions LMotor CON 15 servo motor connections RMotor CON 14 Constants LEDon CON 0 LF LEDs are active low LEDoff CON 1 WLine CON 0 white line on black field BLi...
Page 17: ...n the course Check_End IF lfBits 11111 THEN Steer_Robot keep steering if not at end IF onCourse No THEN Straight still at start IF lastBits 00000 THEN At_End verify end of course Steer_Robot steer NCD...
Page 18: ...r GOTO Save_Last Right PULSOUT LMotor MStop Speed100 full speed on left PULSOUT RMotor MStop GOTO Save_Last Straight PULSOUT LMotor MStop Speed100 both motors forward PULSOUT RMotor MStop Speed100 GOT...
Page 19: ...k photographers backdrop paper It may be necessary to make cuts in the tape on the insides of sharp corners Be sure to burnish the tape down flush so that it doesn t interfere with the sensor array Fi...
